########################################
# CONSTANTS
########################################

####声明格式：int16 xxx = mmm, 别写错！####

# type		
int16 ALARM = 2        #报警，通常为比较严重的错误等，影响正常运行
int16 WARNING = 1      #警告，通常不停机，但是会做相应的安全措施（声光提示、减速等）
int16 INFO = 0		   #提示，不执行动作，主要是告知系统的动作进度或条件

# action
int16 ESTOP = 6        #急停
int16 STOP = 5		   #正常减速停止
int16 QUICK_STOP = 4   #快速减速停止
int16 DELAYSTOP = 3	   #到下一节点减速停车
int16 SLOWDONE = 2	   #正常减速（配合参数velLimit使用）
int16 QUICK_SLOWDONE = 1 #快速减速（配合参数velLimit使用）
int16 NONE = 0		   #无动作

# ackReq
#int16 FALSE	       
#需要手动复位
#int16 TRUE 	       
#自复位

# ecode id
int16 MAX_EVENT_CODE = 5000
int16 NONE_EVENT = 0
int16 POWER_FAIL_EVENT = 1
int16 TASK_ERROR_EVENT = 2
int16 STEER_REACH_LIMIT_EVENT = 3
int16 LOCATION_MISSING_EVENT = 4
int16 EMG_STOP_EVENT = 5
int16 HMI_BUTTON_EVENT = 6 
int16 BUMPER_EVENT = 7
int16 HOST_EVENT = 8
int16 NETWORK_FAIL_EVENT = 9
int16 RUN_STOP_EVENT = 10
int16 PATH_GUIDE_LOST_EVENT = 11
int16 MARK_SENSOR_ERROR_EVENT = 12
int16 CAN_EVENT = 13
int16 EQUIPMENT_EVENT = 14
int16 SAFE_DETECT_NEAR_EVENT = 15
int16 BATTERY_LOW_EVENT = 16
int16 BATTERY_TOO_LOW_EVENT = 17
int16 GUIDER_SENSOR_ERR_EVENT = 18
int16 CHARGE_FAIL_EVENT = 19
int16 BATTERY_ERROR_EVENT = 20
int16 CANIO_ERROR_EVENT = 21
int16 SAFE_DETECT_CENTER_EVENT = 22
int16 SAFE_DETECT_FAR_EVENT = 23
int16 CANOPEN_SERVO_ERROR_EVENT = 24
int16 LOAD_AND_UNLOAD_ERROR = 25 
int16 QR_READER_SENSOR_ERROR = 26
int16 SAFETY_PAUSE = 27
int16 IO_TIME_OUT = 28
int16 OBSTACLE_AVOID_TIME_OUT = 29
int16 EVENT_TIME_OUT = 30
int16 TOPIC_TIME_OUT = 31
int16 TOPIC_LOW_FREQ = 32
int16 OBSTACLE_AVOID_DATA_ERROR = 33
int16 FORK_TIP_EVENT = 34
int16 SWITCH_MODE_EVENT = 35
int16 FORK_LIFT_UPLIMIT = 36
int16 FORK_LIFT_DOWNLIMIT = 37
int16 FORK_LIFT_TIMEOUT = 38
int16 ACTION_NEEDCLEAR_EVENT = 39
int16 CHARGEPLATE_WRONG_PLACE = 40
int16 CHISSIS_ENABLE_ERROR = 41
int16 CURRENT_IMBALANCED = 42
int16 PROCESS_EXECUTION_FAILED = 50
int16 CPU_OVERLOAD_EVENT = 52
int16 MEM_OVERLOAD_EVENT = 53
int16 DISK_OVERLOAD_EVENT = 54
int16 SLAM_LIDAR_DATA_ERROR = 60
int16 SLAM_LIDAR_DATA_WARNING = 61
int16 SLAM_ODOM_DATA_ERROR = 62
int16 SLAM_STATE_ERROR = 63
int16 PALLET_RECOGNITION_FAILED = 70 #栈板识别错误
int16 MAGNET_INIT_ERROR = 100
int16 MAGNET_MAGNET_MARK_ERROR = 101
int16 MAGNET_DATE_ERROR = 102
int16 MAGNET_PARAM_ERROR = 103
int16 QRCODE_MISS_ERROR = 110
int16 QRCODE_MISS_WARNING = 111
int16 MOTOR_ERROR = 200        # 0, 电机故障
int16 HYDRAULIC_ERROR = 201    # 1, 急停+液压断电
int16 MAGLIFT_ERROR = 202      # 9, 磁导升降异常
int16 CYLINDERSYNC_ERROR = 203 # 10, 0x0A) 液压缸不同步
int16 IMUDATA_ERROR = 204      # 11, 0x0B) IMU倾斜过大
int16 SAFE_NOTREADY = 205      # 12, 0x0C) 安全回路未就绪
int16 HEIGHTSENSOR_ERROR = 206 # 13, 0x0D) 高度传感器异常

########################################
# Messages！！！
########################################
std_msgs/Header header
# 类型，主要用于消息的分类显示 
int16 type
# 动作
int16 action
# 手动复位
int16 ackreq
# 事件发生时间
float64 eventtime
# 限速
float64 vellimit
# 错误码/事件码
int32 ecode
# 参数
int32 param1
int32 param2
int32 param3
int32 param4
# 错误描述（中文）
string description_cn
# 错误描述（英文）
string description
